Calculation method and monitoring method for elastic modulus of flexible suspension part of elevator

Abstract

The invention discloses a method for calculating the elasticity modulus of an elevator suspension part. The method comprises the steps that S1, a robot is controlled to enter or leave an elevator car; s2, the elevator car position when the robot is located in the car and the elevator car position when the robot is located outside the car are recorded; s3, the difference value between the first elevator car position when the robot is located in the elevator car and the second elevator car position when the robot is located outside the elevator car is calculated, and the difference value serves as the length variation of a flexible suspension part between an elevator driving motor and the elevator car; and S4, calculating the elastic modulus E of the flexible suspension part of the elevator. The elasticity modulus of the elevator steel wire rope can be simply and accurately determined.

Description

Technical Field

[0001] The present invention relates to the field of elevators, and particularly relates to a method for calculating the elastic modulus and a monitoring method of an elastic modulus of an elevator flexible suspension member. Background Art

[0002] Elevator flexible suspension members, such as steel ropes, steel belts, etc. used for suspending the car in an elevator system, all have a certain elasticity. Especially for elevators with a large load capacity and a large lifting height, their elasticity is more obvious and cannot be ignored. The elasticity of an elevator flexible suspension member can be measured by its elastic modulus. Currently, many solutions using the elasticity of elevator flexible suspension members to achieve special functions have emerged in the prior art. For example, Document 1 (CN 202111135311.5) proposes to use the change in the elongation of the elevator steel rope due to its elasticity when the load in the elevator car changes to calibrate the elevator weighing device, and Document 2 (CN202410263978.0) proposes to use the change in the elongation of the elevator steel rope due to its elasticity when the load in the elevator car changes to calculate the starting torque of the elevator. Obviously, whether it is the calibration of the elevator weighing device or the calculation of the elevator starting torque, their accuracy depends on the accuracy of the elastic modulus of the elevator steel rope. The elastic modulus of the elevator steel rope will change to varying degrees as the elevator is put into use for a longer time, and the change in the elastic modulus of the elevator steel rope seriously affects the performance of the function realization based on the elastic modulus of the elevator steel rope. Therefore, how to simply and accurately determine the elastic modulus of the elevator steel rope has become a technical problem to be solved.

[0003] On the other hand, there are already various methods for the health monitoring of flexible suspension components such as elevator wire ropes. For example, Document 3 (CN200780101531.8) proposes to use a comb-shaped detection plate to check for abnormal shapes on the outer peripheral surface of the wire rope. Document 4 (201811185309.7) proposes to use the inverse magnetostrictive effect to detect defects in elevator traction steel belts. Document 5 (CN201710593703.3) proposes to magnetize the wire rope using a magnetizer and detect changes in magnetic flux to implement abnormal detection of the wire rope. Document 6 (CN200810183913.6) proposes to achieve abnormal detection of the wire rope by detecting whether there is electrical conduction between adjacent strands in multiple strands of the wire rope or between adjacent strands in multiple strands. Document 7 (CN200810128129.5) proposes to detect changes in the magnetic flux generated between a pair of magnets arranged at a predetermined distance from each other and having opposite polarities to perform a preliminary inspection for protruding parts of the wire rope. Although the prior art has been able to achieve the health monitoring of wire ropes, they all rely on special devices (such as magnetizers for generating magnetic fields, etc.), so they have disadvantages such as complex devices and high costs. Therefore, how to conveniently and quickly monitor elevator flexible suspension components at low cost has become a technical problem to be solved. Summary of the Invention

[0004] The technical problem to be solved by the present invention is how to simply and accurately determine the elastic modulus of an elevator wire rope.

[0005] Another technical problem to be solved by the present invention is how to conveniently and quickly monitor elevator flexible suspension components at low cost.

[0006] To solve the technical problem of how to simply and accurately determine the elastic modulus of an elevator wire rope, the present invention discloses a method for calculating the elastic modulus of an elevator flexible suspension member, including the following steps:

[0007] Step S1, control the robot to enter or leave the elevator car;

[0008] Step S2, respectively record the elevator car positions when the robot is inside the car and outside the car;

[0009] Step S3, calculate the difference between the first elevator car position when the robot is inside the car and the second elevator car position when the robot is outside the car, and use it as the length change amount of the flexible suspension member between the elevator drive motor and the elevator car;

[0010] Step S4: Calculate the elastic modulus E of the elevator flexible suspension member: E = (ΔF / S) / (ΔL / L), where ΔF is the gravity force on the robot, S is the cross-sectional area of the elevator flexible suspension member, ΔL is the change in the length of the flexible suspension member between the elevator drive motor and the elevator car when the robot enters or exits the elevator car, and L is the length of the flexible suspension member between the elevator drive motor and the elevator car.

[0011] Preferably, before step S1, the calculation method further includes: Step S0: Determine the floor where the elevator car stops, and determine the length L of the flexible suspension member between the elevator drive motor and the elevator car according to the stopped floor.

[0012] Preferably, the calculation method calculates the elastic modulus of the elevator flexible suspension member under at least one of different elevator stop floors, different loads in the car, and different running directions before the car stops, and determines the final elastic modulus of the elevator flexible suspension member according to the obtained elastic modulus of the elevator flexible suspension member.

[0013] In order to conveniently, quickly and low-costly monitor the elevator flexible suspension component, the present invention also provides a method for monitoring the elevator flexible suspension member, which monitors the elastic modulus of different sections of the elevator flexible suspension member, and generates a warning message when the maximum difference between the elastic moduli of different sections exceeds the difference threshold.

[0014] Preferably, the monitoring method includes the following steps: Step 1: Divide the elevator flexible suspension member into several sections according to a preset principle; Step 2: Determine the elastic modulus calculation stop floors corresponding to each section of the elevator flexible suspension member, where the elastic modulus calculation stop floor refers to the floor where the elevator car needs to stop to calculate the elastic modulus of a certain section of the elevator flexible suspension member; Step 3: For each possible combination of any two of the elastic modulus calculation stop floors, control the elevator to stop at the first stop floor and the second stop floor in the combination respectively; Step 4: During the elevator stops at the first stop floor and the second stop floor respectively, calculate the elastic modulus of the elevator flexible suspension member respectively to obtain the first elastic modulus and the second elastic modulus; Step 5: Calculate the difference between the first elastic modulus of the first stop floor and the second elastic modulus of the second stop floor in each combination respectively; Step 6: Select the maximum difference from the differences corresponding to each combination; Step 7: Judge whether the maximum difference is greater than the difference threshold. If it is greater, generate a warning message, otherwise end.

[0015] Preferably, in step 1, the elevator flexible suspension member is sectioned according to each stoppable floor of the elevator in the building, which specifically includes: Step 11, determining each stoppable floor of the elevator in the building; Step 12, determining the distance between adjacent stoppable floors; Step 13, selecting, from all the unselected distances between stoppable floors, the distance between stoppable floors with the highest corresponding stoppable floor position as the selected distance between stoppable floors; Step 14, taking the end of the elevator flexible suspension member close to the elevator car as the initial point, and placing the first point at the initial point; Step 15, moving the selected distance between stoppable floors from the first point along the elevator flexible suspension member in the direction away from the initial point to obtain a second point; Step 16, judging whether there are still unselected distances between stoppable floors. If so, updating the first point to the second point and returning to Step 13; otherwise, proceeding to the next step; Step 17, using each second point to section the elevator flexible suspension member to obtain each section.

[0016] Preferably, in step 1, the sectioning is implemented according to the wear degree of the elevator flexible suspension member during use, which specifically includes the following steps: Step 1-1, analyzing and determining the bending conditions corresponding to different sections of the elevator flexible suspension member according to the elevator configuration structure; Step 1-2, taking the points where the bending conditions of the elevator flexible suspension member change during the elevator running from the lowest floor to the highest floor as the segmentation points; Step 1-3, using the segmentation points to segment the elevator flexible suspension member to obtain each initial segment, both ends of the initial segment are adjacent segmentation points, and numbering the initial segments in ascending order according to the distance from the initial point; Step 1-4, taking the highest stoppable floor as the first floor; Step 1-5, selecting, from the unselected initial segments, the initial segment with the smallest number as the selected initial segment; Step 1-6, lowering the elevator car from the first floor until the elevator car stops after reaching the second floor of the selected initial segment. The second floor of the initial segment refers to the stoppable floor of the elevator that meets the specific conditions. The specific conditions are: when the elevator descends a distance not exceeding the selected initial segment, the stoppable floor closest to the point where the elevator car is located when the descending distance is exactly equal to the selected initial segment; or, when the elevator descends a distance exceeding the selected initial segment, the stoppable floor closest to the point where the elevator car is located when the descending distance is exactly equal to the selected initial segment; Step 1-7, taking the bending point of the elevator flexible suspension member corresponding to the second floor as the second point; Step 1-8, judging whether there are still unselected initial segments. If so, updating the first floor to the second floor and returning to Step 1-5; otherwise, proceeding to the next step; Step 1-9, using each second point to section the elevator flexible suspension member to obtain each section.

[0017] Preferably, the step 17 is divided into respective sections in one of the following manners: Manner 1: The part of the elevator flexible suspension member between the initial point and each second point is used as the section corresponding to the stoppable floor corresponding to this second point; Manner 2: The first section is the part of the elevator flexible suspension member between the connection point of the elevator flexible suspension member and the elevator car and the first second point, and the kth section is the part of the elevator flexible suspension member between the (k - 1)th second point and the kth second point, where k ≥ 2.

[0018] Preferably, the steps 1 - 9 are divided into respective sections in one of the following manners: Manner 1: The part of the elevator flexible suspension member between the initial point and each second point is used as the section corresponding to the stoppable floor corresponding to this second point; Manner 2: The first section is the part of the elevator flexible suspension member between the connection point of the elevator flexible suspension member and the elevator car and the first second point, and the kth section is the part of the elevator flexible suspension member between the (k - 1)th second point and the kth second point, where k ≥ 2.

[0019] Preferably, the step 5 adopts the elevator flexible suspension member elastic modulus calculation method described in claim 2 to calculate the elastic modulus of the elevator flexible suspension member.

[0020] Beneficial technical effects

[0021] It is possible to simply and accurately determine the elastic modulus of the elevator wire rope;

[0022] It is possible to conveniently, quickly and at low cost realize the monitoring of the elevator flexible suspension components. Description of the drawings

[0023] Figure 1 Schematic diagram of the steps of the elevator flexible suspension member elastic modulus calculation method in Embodiment 1;

[0024] Figure 2 Schematic diagram of the section division of the elevator flexible suspension member in the elevator flexible suspension member monitoring method in Embodiment 3;

[0025] Figure 3 Schematic diagram of the section division of the elevator flexible suspension member in the elevator flexible suspension member monitoring method in Embodiment 4;

[0026] Figure 4 Schematic diagram of determining the second floor in the elevator flexible suspension member monitoring method in Embodiment 4. Detailed implementation manners

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention. It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence.

[0028] Example 1

[0029] like Figure 1 As shown, this embodiment provides a method for calculating the elastic modulus of an elevator flexible suspension component, comprising the following steps:

[0030] Step S1, controlling the robot to enter or leave the elevator car;

[0031] Step S2, recording the elevator car position when the robot is inside the car and outside the car respectively;

[0032] Step S3, calculating the difference between the first elevator car position when the robot is in the car and the second elevator car position when the robot is outside the car, and using the difference as the length change of the flexible suspension between the elevator drive motor and the elevator car;

[0033] Step S4, calculate the elastic modulus E of the elevator flexible suspension: E = (ΔF / S) / (ΔL / L), where ΔF is the gravity exerted on the robot, S is the cross-sectional area of the elevator flexible suspension, ΔL is the length change of the flexible suspension between the elevator drive motor and the elevator car when the robot enters or leaves the elevator car, and L is the length of the flexible suspension between the elevator drive motor and the elevator car.

[0034] The calculation method further includes, before step S1: step S0, determining the stopping floor of the elevator car, and determining the length L of the flexible suspension member between the elevator drive motor and the elevator car according to the stopping floor.

[0035] The calculation method calculates the elastic modulus of the elevator flexible suspension member under at least one of different elevator stop floors (such as the ground floor, the top floor or the middle floor), different car loads (approximately full load after adding the robot, empty load without the robot) and different running directions (upward and downward) before the car stops, and determines the final elastic modulus of the elevator flexible suspension member according to the obtained elastic modulus of the elevator flexible suspension member. The purpose of doing so is to eliminate the influence of various external factors that may affect the accuracy of the calculation result as much as possible.

[0036] Example 2

[0037] This embodiment provides a monitoring method for implementing health monitoring of the flexible suspension member of an elevator. This monitoring method monitors the elastic modulus of the flexible suspension member of the elevator and implements monitoring of the flexible suspension member of the elevator according to the change in the monitored elastic modulus.

[0038] The calculation method calculates the difference between the calculation result of the elastic modulus of the flexible suspension member of the elevator and its reference value. When the difference exceeds the threshold, a warning message is generated. Preferably, the calculation method determines the reference value of the elastic modulus according to the specifications of the flexible suspension member of the elevator, or uses the calculation result of the elastic modulus of the flexible suspension member of the elevator in the initial stage of elevator operation as its reference value.

[0039] Example 3

[0040] This embodiment provides a monitoring method for the flexible suspension member of an elevator, which monitors the elastic modulus of different sections of the flexible suspension member of the elevator. When the maximum difference between the elastic moduli of different sections exceeds the difference threshold, a warning message is generated.

[0041] The monitoring method monitors the elastic modulus of different sections of the flexible suspension member of the elevator, and when the maximum difference between the elastic moduli of different sections exceeds the difference threshold, a warning message is generated.

[0042] The monitoring method specifically includes the following steps:

[0043] Step 1: Divide the flexible suspension member of the elevator into several sections according to a preset principle;

[0044] Step 2: Determine the elastic modulus calculation stop floors corresponding to each section of the flexible suspension member of the elevator. The elastic modulus calculation stop floor refers to the floor where the elevator car needs to stop to calculate the elastic modulus of a certain section of the flexible suspension member of the elevator;

[0045] Step 3: For each possible combination of any two of the elastic modulus calculation stop floors, control the elevator to stop at the first stop floor and the second stop floor in the combination respectively;

[0046] Step 4: During the elevator stopping at the first stop floor and the second stop floor respectively, calculate the elastic modulus of the flexible suspension member of the elevator respectively to obtain the first elastic modulus and the second elastic modulus;

[0047] Step 5: Calculate the difference between the first elastic modulus of the first stop floor and the second elastic modulus of the second stop floor in each combination respectively;

[0048] Step 6: Select the maximum difference from the differences corresponding to each combination;

[0049] Step 7. Determine whether the maximum difference is greater than the difference threshold. If it is greater, generate a warning message; otherwise, end.

[0050] Step 1. Divide the elevator flexible suspension member into sections according to each stoppable floor of the elevator in the building, which specifically includes:

[0051] Step 11. Determine each stoppable floor of the elevator in the building;

[0052] Step 12. Determine the distance between adjacent stoppable floors;

[0053] Step 13. From all the unselected distances between stoppable floors, select the distance between stoppable floors with the highest corresponding stoppable floor position as the selected distance between stoppable floors;

[0054] Step 14. Take the end of the elevator flexible suspension member close to the elevator car as the initial point, and place the first point at the initial point;

[0055] Step 15. After moving the selected distance between stoppable floors from the first point along the elevator flexible suspension member in the direction away from the initial point, obtain the second point;

[0056] Step 22. Determine whether there are still unselected distances between stoppable floors. If so, update the first point to the second point and return to Step 13; otherwise, proceed to the next step;

[0057] Step 17. Divide the elevator flexible suspension member by using each second point to obtain each section.

[0058] Step 17 determines each section in any of the following ways:

[0059] Method 1. Take the part of the elevator flexible suspension member between the initial point and each second point as the section corresponding to the stoppable floor corresponding to the second point. The stoppable floors of the building from low to high are 1, 2,..., N; when the elevator descends from the Nth floor to the (N - 1)th floor, the distance between the stoppable floors of the Nth floor and the (N - 1)th floor corresponds to the (N - 1)th floor; after the elevator descends from the Nth floor to the (N - 1)th floor, the extended length of the elevator flexible suspension member between the drive motor and the elevator car is the distance between the stoppable floors corresponding to the (N - 1)th floor. If the sections are numbered starting from 1 from the connection point of the elevator flexible suspension member and the elevator car, the stoppable floor corresponding to the kth section is the (N - k)th floor.

[0060] Method 2. The first section is the part of the elevator flexible suspension member located at the connection point of the elevator flexible suspension member and the elevator car (such a description of the connection point only holds for the 1:1 winding method in Figure 1 ; for such as Figure 2For other winding methods such as the 2:1 shown, it may be necessary to modify it to the end point of the wire rope closer to the car) and the first second point (sorted according to the distance from the elevator car). The kth section is the part of the elevator flexible suspension member between the (k - 1)th second point and the kth second point (k ≥ 2).

[0061] The following will combine Figure 2 to elaborate on the above content in detail.

[0062] Figure 2 In it, the left figure shows the situation where the elevator car is at the highest floor (Nth floor, and the floor numbers increase gradually from low to high) in the building, and the right figure shows the situation where the elevator car is at the highest floor (N - 1th floor) in the building.

[0063] In the left figure, when the elevator car is at the highest floor (Nth floor) in the building, the wire rope between the drive motor and the elevator car at this time is the section marked as 1 in the figure; when the car descends one floor from the Nth floor to the (N - 1)th floor, that is, in the situation of the right figure, the car has descended the floor distance between the Nth floor and the (N - 1)th floor based on the left figure, corresponding to the section marked as 2 above the original section marked as 1 in the wire rope between the drive motor and the elevator car. At this time, the wire rope between the drive motor and the elevator car is the section marked as 2'. Obviously, the section marked as 2' is the section obtained by using Method 1, and the section marked as 2 is the section obtained by using Method 2. For the situation when the elevator car stops at other floors, combined with Figure 1 it can be easily obtained.

[0064] After obtaining each section, the monitoring can be implemented according to Steps 2 to 7.

[0065] It should be noted that, as can be seen from the method for calculating the elastic modulus of the elevator flexible suspension member described in Embodiment 1, since ΔL / L is used in the calculation formula, where L is the wire rope between the drive motor and the elevator car, that is, the section obtained by using Method 1 here, the calculated elastic moduli are actually the averages of the elastic moduli of each point in the corresponding section. Obviously, such an average value, especially when L is relatively close to the entire lifting height of the elevator, due to this averaging effect, it may mask a large change in the elastic modulus of a small section of the wire rope, showing that even if there is a large change in the elastic modulus of a small section of the wire rope, the offset of the calculated elastic modulus (actually the average value of the wire rope between the drive motor and the elevator car) relative to the calculation result when there is no large change in the elastic modulus of this small section will be very small. Obviously, this is not conducive to improving the sensitivity of the subsequent steps for monitoring the elastic modulus of the wire rope.

[0066] To solve this problem, we adopt the following method to calculate the elastic modulus of the steel wire rope for each section obtained by Method 2: To calculate the elastic modulus of the steel wire rope for Section k, first determine the two endpoints of this section, and then construct a new section of the steel wire rope from each of these endpoints to the end of the steel wire rope close to the elevator car. The sections obtained in this way are the same as those obtained by Method 1. Then, calculate the elastic modulus of the steel wire rope for each new section, and finally calculate the difference between the two calculation results of the elastic modulus of the steel wire rope, and use this difference as the elastic modulus of the steel wire rope for Section k. Since the length of the section corresponding to such an elastic modulus of the steel wire rope is relatively short, it can better reflect the change in the relatively large elastic modulus of a small section of the steel wire rope. Therefore, when implementing the monitoring of the elastic modulus of the steel wire rope in the subsequent steps, the monitoring sensitivity will be greatly improved.

[0067] Example 4

[0068] In Example 3, the steel wire rope was divided into sections according to each stoppable floor of the elevator, and then each section was monitored separately. However, there is room for improvement in such a processing method. The main reason for the need to conduct health monitoring on the steel wire rope is that the steel wire rope wears during use, and this wear is usually manifested as a change in the elastic modulus. The wear of the steel wire rope is usually caused by bending during use and friction with the sheave groove. For a certain point on the steel wire rope, the amount of wear is related to the number of bends and the bending radius during bending. Moreover, the more the number of bends and the smaller the bending radius during bending, the greater the amount of wear. Therefore, it is possible to estimate the bending situation of the steel wire rope during use and determine the sections of the steel wire rope with relatively severe wear according to the estimation results, and then only conduct health monitoring on these sections with relatively severe wear, so as to reduce the related costs required for implementing the health monitoring of the steel wire rope (such as: the control exerted on the elevator and the robot to collect data for calculating the elastic modulus, the processing load during data processing, etc.) without affecting the quality of the health monitoring of the steel wire rope.

[0069] For an elevator system with a 1:1 winding method, the parts of the steel wire rope close to the elevator car and the counterweight usually do not pass through the traction sheave, so the degree of wear is relatively very small. The middle part of the steel wire rope will pass through the traction sheave once when the elevator car runs from the lowest floor to the highest floor (and vice versa). Therefore, data can be simply collected at any point in this part and its elastic modulus can be calculated to implement health monitoring.

[0070] But for Figure 3 the 2:1 winding method shown, which is different from the 1:1 winding method of the elevator system, due to the different situations of the steel wire rope passing through the traction sheave, the car top deflecting sheave, etc. at different positions, the degree of wear also shows corresponding diversity.

[0071] Therefore, in order to reasonably implement the health monitoring of the wire rope (i.e., ensuring the monitoring quality and reducing the related costs at the same time), in step 1, the section division is implemented according to the wear degree of the elevator flexible suspension member during use, specifically including the following steps:

[0072] Step 1-1: According to the elevator configuration structure, analyze and determine the bending conditions (bending radius and / or number of times) corresponding to different sections of the elevator flexible suspension member;

[0073] Step 1-2: During the elevator running from the lowest floor to the highest floor, the points where the bending conditions of the elevator flexible suspension member change are used as the splitting points;

[0074] Step 1-3: The elevator flexible suspension member is segmented by using the splitting points to obtain each initial segment. Both endpoints of the initial segment are adjacent splitting points (one endpoint of the first initial section is the initial point and the other is the splitting point), and the initial segments are numbered from small to large in ascending order according to the distance from the initial point;

[0075] Step 1-4: The highest stop floor is taken as the first floor;

[0076] Step 1-5: Select the initial segment with the smallest number from the unselected initial sections as the selected initial segment;

[0077] Step 1-6: Lower the elevator car from the first floor until the elevator car stops after reaching the second floor of the selected initial segment. The second floor of the initial segment refers to the elevator stoppable floor that meets specific conditions. The specific conditions are: when the elevator descends a distance not exceeding the selected initial segment, the elevator car is closest to the stoppable floor at the point where the elevator car's distance is just equal to the selected initial segment during the descent; or, when the elevator descends a distance exceeding the selected initial segment, the elevator car is closest to the stoppable floor at the point where the elevator car's distance is just equal to the selected initial segment during the descent;

[0078] Step 1-7: Take the bending point of the elevator flexible suspension member corresponding to the second floor as the second point;

[0079] Step 1-8: Determine whether there are still unselected initial sections. If so, update the first floor to the second floor and return to step 1-5; otherwise, proceed to the next step;

[0080] Step 1-9: The elevator flexible suspension member is divided by using each second point to obtain each section.

[0081] The essence of the above steps is as follows: The segmentation points where the bending situation changes in the elevator flexible suspension member usually do not exactly correspond to the elevator's stoppable floors, but rather correspond to a position between two stoppable floors. However, the elastic modulus calculation method in Embodiment 1 can only be implemented during the elevator's stop at a stoppable floor. Therefore, the segmentation points need to be appropriately adjusted and converted to appropriate stoppable floors.

[0082] Steps 1-9 determine each section in any of the following ways:

[0083] Method 1: Consider the part of the elevator flexible suspension member between the initial point and each second point as the section corresponding to the stoppable floor corresponding to this second point. The stoppable floors of the building from low to high are 1, 2,..., N; when the elevator descends from the Nth floor to the (N - 1)th floor, the distance between the stoppable floors of the Nth floor and the (N - 1)th floor corresponds to the (N - 1)th floor; after the elevator descends from the Nth floor to the (N - 1)th floor, the elongation of the elevator flexible suspension member between the drive motor and the elevator car is the distance between the stoppable floors corresponding to the (N - 1)th floor. If the sections are numbered starting from 1 from the connection point of the elevator flexible suspension member and the elevator car, the stoppable floor corresponding to the kth section is the (N - k)th floor.

[0084] Method 2: The first section is the part of the elevator flexible suspension member between the connection point of the elevator flexible suspension member and the elevator car and the first second point (sorted by the distance from the elevator car). The kth section is the part of the elevator flexible suspension member between the (k - 1)th second point and the kth second point (k ≥ 2).

[0085] This embodiment does not limit how to calculate the elastic modulus. Preferably, the calculation method described in Embodiment 1 can be used to calculate the elastic modulus of the elevator flexible suspension member.

[0086] After obtaining the sections, the subsequent method for calculating the elastic modulus is the same as that in Embodiment 3. Refer to the last two paragraphs of Embodiment 3.

[0087] In Steps 1-6, since there are two specific conditions, when only one of them is selected, for a selected initial segment, only one second floor is obtained each time. However, when both specific conditions are selected simultaneously, for a selected initial segment, two second floors can be obtained. Here, there is a problem of how to determine the final second floor for the subsequent steps.

[0088] The following method for determining the final second floor is given here: Method A: Select the one closer to the segmentation point; Method B: Make the endpoints of the section obtained by Method 2 be within the one with a higher degree of wear among the two initial segments.

[0089] For Method B, as Figure 4As shown, for the uppermost brown selected initial segment 3, there are two optional second floors, namely the two arrows near its lower endpoint. Since the distance between the blue selected initial segment 5 and the extreme value (here 0 or 5) is relatively close (compared with the brown selected initial segment 3), the second floor here is selected as the lower one of the two arrows near the lower endpoint of the brown selected initial segment 3.

[0090] For the blue selected initial segment 5, there are two optional second floors, namely the two arrows near its lower endpoint. Since the distance between the blue selected initial segment 5 and the extreme value (here 0 or 5) is the closest, the second floor here is selected as the upper one of the two arrows near the lower endpoint of the blue selected initial segment 5.

[0091] For the red selected initial segment 4, there are two optional second floors, namely the two arrows near its lower endpoint. Since the distance between the red selected initial segment 4 and the extreme value (here 0 or 5) is the closest, the second floor here is selected as the upper one of the two arrows near the lower endpoint of the red selected initial segment 4.

[0092] For the yellow selected initial segment 1, there are two optional second floors, namely the two arrows near its lower endpoint. Since the distance between the yellow selected initial segment 1 and the extreme value (here 0 or 5) is the closest (compared with the green selected initial segment 2), the second floor here is selected as the upper one of the two arrows near the lower endpoint of the blue selected initial segment 5.

Claims

1. A method for calculating the elastic modulus of a flexible suspension member of an elevator, characterized in that, Including the following steps: Step S1: Control the robot to enter or leave the elevator car; Step S2: Record the elevator car position when the robot is inside and outside the car respectively; Step S3: Calculate the difference between the first elevator car position when the robot is inside the car and the second elevator car position when the robot is outside the car, and take it as the length change of the flexible suspension between the elevator drive motor and the elevator car; Step S4: Calculate the elastic modulus E of the elevator flexible suspension: E = (ΔF / S) / (ΔL / L), where ΔF is the gravity of the robot, S is the cross-sectional area of the elevator flexible suspension, ΔL is the length change of the flexible suspension between the elevator drive motor and the elevator car when the robot enters or leaves the elevator car, and L is the length of the flexible suspension between the elevator drive motor and the elevator car.

2. The method for calculating the elastic modulus of the elevator flexible suspension member according to claim 1, wherein Before step S1, the calculation method further includes: Step S0: Determine the floor where the elevator car stops, and determine the length L of the flexible suspension between the elevator drive motor and the elevator car according to the stop floor.

3. The method for calculating the elastic modulus of the elevator flexible suspension member according to claim 1, wherein The calculation method calculates the elastic modulus of the elevator flexible suspension in at least one of different elevator stop floors, different loads inside the car, and different running directions before the car stops, and determines the final elastic modulus of the elevator flexible suspension according to the obtained elastic modulus of the elevator flexible suspension.

4. A method for monitoring a flexible suspension member of an elevator, characterized in that, Monitor the elastic modulus of different sections of the elevator flexible suspension. When the maximum difference between the elastic moduli of different sections exceeds the difference threshold, generate a warning message.

5. The elevator flexible suspension member monitoring method according to claim 4, wherein The monitoring method includes the following steps: Step 1: Divide the elevator flexible suspension into several sections according to a preset principle; Step 2: Determine the elastic modulus calculation stop floors corresponding to each section of the elevator flexible suspension. The elastic modulus calculation stop floor refers to the floor where the elevator car needs to stop to calculate the elastic modulus of a certain section of the elevator flexible suspension; Step 3: For each possible combination of any two of the elastic modulus calculation stop floors, control the elevator to stop at the first stop floor and the second stop floor in the combination respectively; Step 4: During the elevator stops at the first stop floor and the second stop floor respectively, calculate the elastic modulus of the elevator flexible suspension to obtain the first elastic modulus and the second elastic modulus; Step 5: Calculate the difference between the first elastic modulus of the first stop floor and the second elastic modulus of the second stop floor in each combination respectively; Step 6: Select the maximum difference from the differences corresponding to each combination; Step 7: Determine whether the maximum difference is greater than the difference threshold. If it is greater, generate a warning message, otherwise end.

6. The elevator flexible suspension member monitoring method according to claim 5, wherein In step 1, the elevator flexible suspension is divided into sections according to each stoppable floor of the elevator in the building, specifically including: Step 11: Determine each stoppable floor of the elevator in the building; Step 12: Determine the distance between adjacent stoppable floors; Step 13: Select the stoppable floor distance with the highest corresponding stoppable floor position as the selected stoppable floor distance from all unselected stoppable floor distances; Step 14: Take the end of the elevator flexible suspension member close to the elevator car as the initial point, and place the first point at the initial point; Step 15: After moving a selected stoppable floor spacing from the first point along the elevator flexible suspension member in the direction away from the initial point, obtain the second point; Step 16: Determine whether there is still an unselected stoppable floor spacing. If so, update the first point to the second point and return to Step 13. Otherwise, proceed to the next step; Step 17: Divide the elevator flexible suspension member using each second point to obtain each section.

7. The elevator flexible suspension member monitoring method according to claim 5, characterized in that, The above Step 1 implements the section division according to the wear degree of the elevator flexible suspension member during use, and specifically includes the following steps: Step 1-1: According to the elevator configuration structure, analyze and determine the bending conditions corresponding to different sections of the elevator flexible suspension member; Step 1-2: During the elevator running from the lowest floor to the highest floor, use the point where the bending condition of the elevator flexible suspension member changes as the splitting point; Step 1-3: Divide the elevator flexible suspension member using the splitting point to obtain each initial section. Both endpoints of the initial section are adjacent splitting points, and number the initial sections in ascending order according to the distance from the initial point; Step 1-4: Take the highest stoppable floor as the first floor; Step 1-5: Select the initial section with the smallest number from the unselected initial sections as the selected initial section; Step 1-6: Lower the elevator car from the first floor until the elevator car stops after reaching the second floor of the selected initial section. The second floor of the initial section refers to the elevator stoppable floor that meets specific conditions. The specific conditions are: when the elevator descends a distance not exceeding the selected initial section, the elevator car is closest to the stoppable floor at the point where its descending distance is exactly equal to the selected initial section, or when the elevator descends a distance exceeding the selected initial section, the elevator car is closest to the stoppable floor at the point where its descending distance is exactly equal to the selected initial section; Step 1-7: Take the bending point of the elevator flexible suspension member corresponding to the second floor as the second point; Step 1-8: Determine whether there is still an unselected initial section. If so, update the first floor to the second floor and return to Step 1-5. Otherwise, proceed to the next step; Step 1-9: Divide the elevator flexible suspension member using each second point to obtain each section.

8. The elevator flexible suspension member monitoring method according to claim 6, wherein The above Step 17 divides to obtain each section according to one of the following methods: Method 1: Take the part of the elevator flexible suspension member between the initial point and each second point as the section corresponding to the stoppable floor corresponding to the second point; Method 2: The first section is the part of the elevator flexible suspension member between the connection point of the elevator flexible suspension member and the elevator car and the first second point. The kth section is the part of the elevator flexible suspension member between the (k - 1)th second point and the kth second point, where k ≥ 2.

9. The elevator flexible suspension member monitoring method according to claim 7, characterized in that, The above Step 1-9 divides to obtain each section according to one of the following methods: Method 1: Take the part of the elevator flexible suspension member between the initial point and each second point as the section corresponding to the stoppable floor corresponding to the second point; Method 2: The first section is the part of the elevator flexible suspension member between the connection point of the elevator flexible suspension member and the elevator car and the first second point, and the k-th section is the part of the elevator flexible suspension member between the (k - 1)-th second point and the k-th second point, where k ≥ 2.

10. The elevator flexible suspension member monitoring method according to claim 5, characterized in that In step 5, the elastic modulus calculation method of the elevator flexible suspension member described in claim 2 is adopted to calculate the elastic modulus of the elevator flexible suspension member.

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